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Combined Non-Linear Pose Estimation from Points and Lines

  • We present a non-linear camera pose estimator, which is able to handle a combined input of point and line feature correspondences. For three or more correspondences, the estimator works on any arbitrary number and choice of the feature type, which provides an estimation of the pose on a preferably small and flexible amount of 2D-3D correspondences. We also give an analysis of different minimization techniques, parametrizations of the pose data, and of error measurements between 2D and 3D data. These will be tested for the usage of point features, lines and the combination case. The result shows the most stable and fast working non-linear parameter set for pose estimation in model-based tracking.

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Author:Bernhard Reinert, Martin Schumann, Stefan Müller
Series (Volume no.):Arbeitsberichte, FB Informatik (2011,9)
Document Type:Part of Periodical
Date of completion:2011/05/31
Date of publication:2011/05/31
Publishing institution:Universität Koblenz-Landau, Campus Koblenz, Universitätsbibliothek
Release Date:2011/05/31
Tag:image processing; scene analysis; tracking
Number of pages:16
Institutes:Fachbereich 4 / Fachbereich 4
Fachbereich 4 / Institut für Computervisualistik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Licence (German):License LogoEs gilt das deutsche Urheberrecht: § 53 UrhG